Merge branch 'main' into dthomas_meilisearch

# Conflicts:
#	.gitignore
#	read_datasheet.py

.gitignore

@@ -1,9 +1,18 @@
+# python
 venv
 __pycache__
+# cable data folder(s)
 cables
+cables-sample.zip
+# meilisearch (mainly where I've put the data volume for the container)
+meili_data
+# IDE things
 .vscode
-output.log
+.idea
+# videos
 *.webm
 output.mp4
+# log files
 output.log
-cables-sample.zip
+# images
+*.png

Dockerfile

@@ -0,0 +1,11 @@
+FROM python:latest
+
+RUN apt-get update && apt-get install -y libgl1-mesa-glx ghostscript && apt-get clean && rm -rf /var/lib/apt/lists
+COPY . .
+#COPY config-server.yml config.yml
+RUN pip3 install -r requirements.txt
+
+CMD ["python3", "run.py"]
+EXPOSE 5000
+EXPOSE 8000
+EXPOSE 9000

compose.yml

@@ -0,0 +1,13 @@
+services:
+  meilisearch:
+    image: "getmeili/meilisearch:v1.6.2"
+    ports:
+      - "7700:7700"
+    environment:
+      MEILI_MASTER_KEY: fluffybunnyrabbit
+      MEILI_NO_ANALYTICS: true
+    volumes:
+      - "meili_data:/meili_data"
+
+volumes:
+  meili_data:

config.yml

@@ -32,13 +32,13 @@ led:
       ledstart: 288
       ledend: 431
       mode: rgb
-    - universe: 1
-      ip: 192.168.68.130
+    - universe: 4
+      ip: 192.168.5.40
       ledstart: 432
       ledend: 575
       mode: rgb
-    - universe: 4
-      ip: 192.168.68.131
+    - universe: 1
+      ip: 192.168.5.4
       ledstart: 576
       ledend: 719
       mode: rgb
@@ -159,7 +159,7 @@ led:
       size: 24
       diameter: 63.5
       angle: 0
-      pos: [-65.936, 114.3]
+      pos: [-65.991, 114.3]
     - type: circle
       start: 336
       size: 24
@@ -420,6 +420,116 @@ led:
       size: 70
       length: 600
       angle: 270 # down
-      pos: [300, 300]
+      pos: [375, 300]
 
-    
+global_position_offset: [0,0] # default coordinate spce below as center of arm at 0,0 - adjust if necessary
+animation_time: 40
+position_map:
+  - index: 0
+    pos: [-152.4, 263.965]
+  - index: 1
+    pos: [-76.2, 263.965]
+  - index: 2
+    pos: [0, 263.965]
+  - index: 3
+    pos: [76.2, 263.965]
+  - index: 4
+    pos: [152.4, 263.965]
+  - index: 5
+    pos: [-190.5, 197.973]
+  - index: 6
+    pos: [-114.3, 197.973]
+  - index: 7
+    pos: [-38.1, 197.973]
+  - index: 8
+    pos: [38.1, 197.973]
+  - index: 9
+    pos: [114.3, 197.973]
+  - index: 10
+    pos: [190.5, 197.973]
+  - index: 11
+    pos: [-228.6, 131.982]
+  - index: 12
+    pos: [-152.4, 131.982]
+  - index: 13
+    pos: [-76.2, 131.982]
+  - index: 14
+    pos: [0, 131.982]
+  - index: 15
+    pos: [76.2, 131.982]
+  - index: 16
+    pos: [152.4, 131.982]
+  - index: 17
+    pos: [228.6, 131.982]
+  - index: 18
+    pos: [-266.7, 65.991]
+  - index: 19
+    pos: [-190.5, 65.991]
+  - index: 20
+    pos: [-114.3, 65.991]
+  - index: 21
+    pos: [114.3, 65.991]
+  - index: 22
+    pos: [190.5, 65.991]
+  - index: 23
+    pos: [266.7, 65.991]
+  - index: 24
+    pos: [-304.8, 0]
+  - index: 25
+    pos: [-228.6, 0]
+  - index: 26
+    pos: [-152.4, 0]
+  - index: 27
+    pos: [152.4, 0]
+  - index: 28
+    pos: [228.6, 0]
+  - index: 29
+    pos: [304.8, 0]
+  - index: 30
+    pos: [-266.7, -65.991]
+  - index: 31
+    pos: [-190.5, -65.991]
+  - index: 32
+    pos: [-114.3, -65.991]
+  - index: 33
+    pos: [114.3, -65.991]
+  - index: 34
+    pos: [190.5, -65.991]
+  - index: 35
+    pos: [266.7, -65.991]
+  - index: 36
+    pos: [-228.6, -131.982]
+  - index: 37
+    pos: [-152.4, -131.982]
+  - index: 38
+    pos: [-76.2, -131.982]
+  - index: 39
+    pos: [0, -131.982]
+  - index: 40
+    pos: [76.2, -131.982]
+  - index: 41
+    pos: [152.4, -131.982]
+  - index: 42
+    pos: [228.6, -131.982]
+  - index: 43
+    pos: [-190.5, -197.973]
+  - index: 44
+    pos: [-114.3, -197.973]
+  - index: 45
+    pos: [-38.1, -197.973]
+  - index: 46
+    pos: [38.1, -197.973]
+  - index: 47
+    pos: [114.3, -197.973]
+  - index: 48
+    pos: [190.5, -197.973]
+  - index: 49
+    pos: [-152.4, -263.965]
+  - index: 50
+    pos: [-76.2, -263.965]
+  - index: 51
+    pos: [0, -263.965]
+  - index: 52
+    pos: [76.2, -263.965]
+  - index: 53
+    pos: [152.4, -263.965]

database.py

@@ -1,140 +0,0 @@
-"""This module contains functionality for interacting with a PostgreSQL database. It will automatically handle error
-conditions (i.e. missing columns) without terminating the entire program. Use the :py:class:`DBConnector` class to
-handle database interactions, either as a standalone object or in a context manager."""
-from __future__ import annotations
-
-import os
-import psycopg2
-from psycopg2 import DatabaseError, OperationalError
-from psycopg2.errors import UndefinedColumn
-
-DB_ADDRESS = os.getenv('DB_ADDRESS', 'localhost')
-DB_PORT = os.getenv('DB_PORT', 5432)
-DB_USER = os.getenv('DB_USER', 'postgres')
-DB_PASSWORD = os.getenv('DB_PASSWORD', '')
-DB_NAME = os.getenv('DB_NAME', 'postgres')
-DB_TABLE = os.getenv('DB_TABLE', 'cables')
-
-
-class DBConnector:
-    """Context managed database class. Use with statements to automatically open and close the database connection, like
-    so:
-
-    .. code-block:: python
-       with DBConnector() as db:
-           db.read()
-    """
-
-    def _db_start(self):
-        """Setup the database connection and cursor."""
-        try:
-            self.conn = psycopg2.connect(
-                f"host={DB_ADDRESS} port={DB_PORT} dbname={DB_NAME} user={DB_USER} password={DB_PASSWORD}")
-            self.cur = self.conn.cursor()
-        except OperationalError as e:
-            raise e
-
-    def _db_stop(self):
-        """Close the cursor and connection."""
-        self.cur.close()
-        self.conn.close()
-
-    def __init__(self):
-        self._db_start()
-
-    def __del__(self):
-        self._db_stop()
-
-    def __enter__(self):
-        self._db_start()
-
-    def __exit__(self):
-        self._db_stop()
-
-    def _get_cols(self) -> set[str]:
-        """Get the list of columns in the database.
-
-        :return: A list of column names."""
-        query = f"select COLUMN_NAME from information_schema.columns where table_name={DB_TABLE}"
-        rows = {x["COLUMN_NAME"] for x in self._query(query)}
-        return rows
-
-    def _column_parity(self, columns: list[str] | set[str]) -> set[str]:
-        """If the listed columns are not in the database, add them.
-
-        :param columns: The columns we expect are in the database.
-        :return: The list of columns in the database after querying."""
-        cols = set(columns)
-        existing = self._get_cols()
-        needs = cols.difference(existing.intersection(cols))
-        if len(needs) > 0:
-            query = f"ALTER TABLE {DB_TABLE} {', '.join([f'ADD COLUMN {c}' for c in needs])}"
-            self._query(query)
-            existing = self._get_cols()
-        return existing
-
-    def _query(self, sql) -> list[dict]:
-        """Basic function for running queries.
-
-        :param sql: SQL query as plaintext.
-        :return: Results of the query, or an empty list if none."""
-        result = []
-        try:
-            self.cur.execute(sql)
-            result = self._read_dict()
-        except DatabaseError as e:
-            print(f"ERROR {e.pgcode}: {e.pgerror}\n"
-                  f"Caused by query: {sql}")
-        finally:
-            return result
-
-    def _read_dict(self) -> list[dict]:
-        """Read the cursor as a list of dictionaries. psycopg2 defaults to using a list of tuples, so we want to convert
-        each row into a dictionary before we return it."""
-        cols = [i.name for i in self.cur.description]
-        results = []
-        for row in self.cur:
-            row_dict = {}
-            for i in range(0, len(row)):
-                if row[i]:
-                    row_dict = {**row_dict, cols[i]: row[i]}
-            results.append(row_dict)
-        return results
-
-    def read(self, **kwargs) -> list[dict]:
-        """Read rows from a database that match the specified filters.
-
-        :param kwargs: Column constraints; i.e. what value to filter by in what column.
-        :returns: A list of dictionaries of all matching rows, or an empty list if no match."""
-        args = []
-        for kw in kwargs.keys():
-            args.append(f"{kw} ILIKE {kwargs['kw']}")
-        query = f"SELECT * FROM {DB_TABLE}"
-        if len(args) > 0:
-            query += f" WHERE {' AND '.join(args)}"
-        return self._query(query)
-
-    def write(self, **kwargs) -> dict:
-        """Write a row to the database.
-
-        :param kwargs: Values to write for each database; specify each column separately!
-        :returns: The row you just added."""
-        self._column_parity(set(kwargs.keys()))
-        values = []
-        for val in kwargs.keys():
-            values.append(kwargs[val])
-        query = f"INSERT INTO {DB_TABLE} ({', '.join(kwargs.keys())}) VALUES ({', '.join(values)})"
-        self._query(query)
-        return kwargs
-
-    def write_all(self, items: list[dict]) -> list[dict]:
-        """Write multiple rows to the database.
-
-        :param items: Rows to write, as a list of dictionaries.
-        :returns: The rows that were added successfully."""
-        successes = []
-        for i in items:
-            res0 = self.write(**i)
-            if res0:
-                successes.append(res0)
-        return successes

get_specs.py

@@ -5,7 +5,7 @@ import sys
 import read_datasheet
 from alive_progress import alive_bar
 import requests
-#import time
+import time
 import json
 import subprocess
 from util import fprint
@@ -26,38 +26,123 @@ def check_internet(url='https://belden.com', timeout=5):
     
 
 
-def query_search(partnum):
-    """token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
-    with requests.get(token_url) as r:
-        out = json.loads(r.content)
-    token = out["token"]
-    search_url = "https://www.belden.com/coveo/rest/search"
-    search_data ='{ "q": "' + str(partnum) + '", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en" }'
-    #"aq": "", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))", "firstResult": "0", "categoryFacets": "[{\\"field\\":\\"@catalogitemcategories\\",\\"path\\":[],\\"injectionDepth\\":1000,\\"maximumNumberOfValues\\":6,\\"delimitingCharacter\\":\\"|\\"}]", "facetOptions": "{}", "groupBy": "" }'
-    #fprint(search_data)
-    fprint(json.loads(search_data))
-    #search_data = '{ "q": "' + str(partnum) + '" }'
-    fprint(search_data)
-    headers = headers = {
-        'Authorization': f'Bearer {token}',
-        'Content-Type': 'application/json'
-    }
-    with requests.post(search_url, headers=headers, data=search_data) as r:
-        fprint(r.text)"""
-    
-    # TODO: Reimplement in python
-    # Bash script uses some crazy json formatting that I could not figure out
-    # Despite the fact that I wrote it
-    # So I'll just leave it, becuase it works.
+def query_search(partnum, source):
+    if source == "Belden":
+        token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
+        with requests.get(token_url) as r:
+            out = json.loads(r.content)
+        token = out["token"]
+        search_url = "https://www.belden.com/coveo/rest/search"
 
-    command = ["./query-search.sh", partnum]
-    result = subprocess.run(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
-    if result.returncode != 0: # error
-        fprint("No results found in search database for " + partnum + ". No hi-res part image available.", result.stderr)
+        # Ridiculous search parameters extracted from website. Do not touch
+        search_data = r"""{ "q": "{QUERY}", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en", "aq": "(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((@syssource==\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\" @catalogitemprimarycategorypublished==true)) ((@catalogitemregionavailable=Global) (@z95xlanguage==en))", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\"Coveo_web_index - rg-nc-prod-sitecore-prod\")) OR (@source==(\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\",\"website_001002_Category_index-rg-nc-prod-sitecore-prod\"))", "firstResult": "0" }, "categoryFacets": "[{\"field\":\"@catalogitemcategories\",\"path\":[],\"injectionDepth\":1000,\"maximumNumberOfValues\":6,\"delimitingCharacter\":\"|\"}]", "facetOptions": "{}", "groupBy": "    [{\"field\":\"@contenttype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[\"Products\"],\"queryOverride\":\"{QUERY}\",\"advancedQueryOverride\":\"(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((((((((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) ((@z95xpath=C292F3A37B3A4E6BAB345DF87ADDE516 @z95xid<>C292F3A37B3A4E6BAB345DF87ADDE516) @z95xtemplate==E4EFEB787BDC4B1A908EFC64D56CB2A4)) OR ((@z95xpath=723501A864754FEEB8AE377E4C710271 @z95xid<>723501A864754FEEB8AE377E4C710271) ((@z95xpath=600114EAB0E5407A84AAA9F0985B6575 @z95xid<>600114EAB0E5407A84AAA9F0985B6575) @z95xtemplate==2BE4FD6B3B2C49EBBD9E1F6C92238B05))) OR (@syssource==\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\" @catalogitemprimarycategorypublished==true)) OR ((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) @z95xpath<>C292F3A37B3A4E6BAB345DF87ADDE516)) OR @syssource==\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\") NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B))) ((@catalogitemregionavailable=Global) (@z95xlanguage==en) OR (@contenttype=(Blogs,Resources,Other)) (NOT @ez120xcludefromcoveo==1))\",\"constantQueryOverride\":\"((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))\"},{\"field\":\"@catalogitembrand\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemenvironment\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemregionalavailability\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@prez45xtez120xt\",\"maximumNumberOfValues\":5,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@tags\",\"maximumNumberOfValues\":4,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetassettype\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetbrand\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetmarket\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsolution\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsearchcontentpagetype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]}]" }"""
+        search_data = search_data.replace(r"{QUERY}", partnum)
+        #"aq": "", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))", "firstResult": "0", "categoryFacets": "[{\\"field\\":\\"@catalogitemcategories\\",\\"path\\":[],\\"injectionDepth\\":1000,\\"maximumNumberOfValues\\":6,\\"delimitingCharacter\\":\\"|\\"}]", "facetOptions": "{}", "groupBy": "" }'
+        #fprint(search_data)
+        #fprint(json.loads(search_data))
+        #search_data = '{ "q": "' + str(partnum) + '" }'
+        #fprint(search_data)
+        headers = headers = {
+            'Authorization': f'Bearer {token}',
+            'Content-Type': 'application/json'
+        }
+        try:
+            with requests.post(search_url, headers=headers, data=search_data) as r:
+                a = r.text
+                a = json.loads(a)
+                idx = -1
+                name = ""
+                for partid in range(len(a["results"])):
+                    name = a["results"][partid]["title"]
+                    if name != partnum:
+                        if name.find(partnum) >= 0:
+                            idx = partid
+                            break
+                        elif partnum.find(name) >= 0:
+                            idx = partid
+                            break
+                        
+                    else:
+                        idx = partid
+                        break
+                        
+                if idx < 0:
+                    fprint("Could not find part in API: " + partnum)
+                    return False
+                fprint("Search result found: result " + str(idx) + ", for ID " + name)
+                #urlname = a["results"][0]["raw"]["catalogitemurlname"]
+                img = a["results"][idx]["raw"]["catalogitemimageurl"]
+                img = img[0:img.index("?")]
+                uri = a["results"][idx]["raw"]["clickableuri"]
+                dsid = a["results"][idx]["raw"]["catalogitemdatasheetid"]
+                brand = a["results"][idx]["raw"]["catalogitembrand"]
+                desc = a["results"][idx]["raw"]["catalogitemlongdesc"]
+                shortdesc = a["results"][idx]["raw"]["catalogitemshortdesc"]
+                a = json.dumps(a["results"][idx], indent=2)
+                #print(a, urlname, img, uri, dsurl)
+
+                out = dict()
+                out["url"] = "https://www.belden.com/products/" + uri
+                out["datasheet"] = "https://catalog.belden.com/techdata/EN/" + dsid + "_techdata.pdf"
+                out["brand"] = brand
+                out["name"] = shortdesc
+                out["description"] = desc
+                out["image"] = "https://www.belden.com" + img
+                out["partnum"] = name
+                #print(out)
+                return out
+        except:
+            print("falied to search with API. Falling back to datasheet lookup.")
+            return False
+    
+
+    # Original bash script
+    # superceded by above
+    if source == "Belden_shell":
+        command = ["./query-search.sh", partnum]
+        result = subprocess.run(command, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
+        if result.returncode != 0: # error
+            fprint("No results found in search database for " + partnum + ". No hi-res part image available.", result.stderr)
+            return False
+        else:
+            data_out = json.loads(result.stdout)
+            return data_out
+    elif source == "Alphawire":
+        alphaurl = "https://www.alphawire.com//sxa/search/results/?l=en&s={4A774076-6068-460C-9CC6-A2D8E85E407F}&itemid={BF82F58C-EFD9-4D8B-AE3E-097DD12CF7DA}&sig=&autoFireSearch=true&productpartnumber=*" + partnum + "*&v={B22CD56D-AB95-4048-8AA1-5BBDF2F2D17F}&p=10&e=0&o=ProductPartNumber%2CAscending"
+        r = requests.get(url=alphaurl)
+        data = r.json()
+        output = dict()
+        #print(data)
+        try:
+            if data["Count"] > 0:
+                #print(data["Results"][0]["Url"])
+                for result in data["Results"]:
+                    if result["Url"].split("/")[-1] == partnum:
+                        #print(partnum)
+                        #print(result["Html"])
+                        try:
+                            imgidx = result["Html"].index("<img src=") + 10
+                            imgidx2 = result["Html"].index("?", imgidx)
+                            output["image"] = result["Html"][imgidx:imgidx2]
+                            if output["image"].index("http") != 0:
+                                output["image"] = ""
+                                print("No cable image found.")
+                        except:
+                            print("No cable image found.")
+
+                        dsidx = result["Html"].index("<a href=\"/disteAPI/") + 9
+                        dsidx2 = result["Html"].index(partnum, dsidx) + len(partnum)
+                        output["datasheet"] = "https://www.alphawire.com" + result["Html"][dsidx:dsidx2]
+                        output["partnum"] = partnum
+                        #"test".index()
+                        #print(output)
+                        return output
+
+
+        except:
+            return False
         return False
-    else:
-        data_out = json.loads(result.stdout)
-        return data_out
+
 
 def touch(path):
     with open(path, 'a'):
@@ -65,7 +150,7 @@ def touch(path):
 
 
 
-def get_multi(partnums):
+def get_multi(partnums, delay=0.25):
     with alive_bar(len(partnums) * 2, dual_line=True, calibrate=30, bar="classic2", spinner="classic") as bar:
 
         def _try_download_datasheet(partnum, output_dir): # Guess datasheet URL
@@ -126,7 +211,7 @@ def get_multi(partnums):
                 sys.exit()
 
 
-        def _download_image(url, output_dir): # Download datasheet with known URL
+        def _download_image(url, output_dir): # Download image with known URL
             global bartext
 
             #fprint(url)
@@ -151,25 +236,32 @@ def get_multi(partnums):
                 os.remove(partnum + "/datasheet.pdf")
                 sys.exit()
 
-        def __use_cached_datasheet(partnum, path, output_dir):
+        def __use_cached_datasheet(partnum, path, output_dir, dstype):
             fprint("Using cached datasheet for " + partnum)
             bar.text = "Using cached datasheet for " + partnum
             bar(skipped=True)
-            fprint("Parsing Datasheet contents of " + partnum)
-            bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
-            read_datasheet.parse(path, output_dir)
-            bar(skipped=False)
+            if not os.path.exists(output_dir + "/parsed"):
+                
+                fprint("Parsing Datasheet contents of " + partnum)
+                bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
+            
+                read_datasheet.parse(path, output_dir, partnum, dstype)
+                bar(skipped=False) 
+            else:
+                fprint("Datasheet already parsed for " + partnum)
+                bar.text = "Datasheet already parsed for " + partnum + ".pdf"
+                bar(skipped=True)
 
-        def __downloaded_datasheet(partnum, path, output_dir):
+        def __downloaded_datasheet(partnum, path, output_dir, dstype):
             fprint("Downloaded " + path)
             bar.text = "Downloaded " + path
             bar(skipped=False)
             fprint("Parsing Datasheet contents of " + partnum)
             bar.text = "Parsing Datasheet contents of " + partnum + ".pdf..."
-            read_datasheet.parse(path, output_dir)
+            read_datasheet.parse(path, output_dir, partnum, dstype)
             bar(skipped=False)
 
-        for partnum in partnums:
+        def run_search(partnum):
             output_dir = "cables/" + partnum
             path = output_dir + "/datasheet.pdf"
             bartext = "Downloading files for part " + partnum
@@ -177,10 +269,16 @@ def get_multi(partnums):
             #
             if (not os.path.exists(output_dir + "/found_part_hires")) or not (os.path.exists(path) and os.path.getsize(path) > 1):
                 # Use query
-                search_result = query_search(partnum.replace(" ", ""))
+                search_result = query_search(partnum, dstype)
                 # Try to use belden.com search
                 if search_result is not False:
                     # Download high resolution part image if available and needed
+                    partnum = search_result["partnum"]
+                    output_dir = "cables/" + partnum
+                    path = output_dir + "/datasheet.pdf"
+                    bartext = "Downloading files for part " + partnum
+                    bar.text = bartext
+
                     if not os.path.exists(output_dir + "/found_part_hires"):
                         if _download_image(search_result["image"], output_dir):
                             fprint("Downloaded hi-res part image for " + partnum)
@@ -190,31 +288,62 @@ def get_multi(partnums):
 
                     # Download datasheet from provided URL if needed
                     if os.path.exists(path) and os.path.getsize(path) > 1:
-                        __use_cached_datasheet(partnum, path, output_dir)
+                        __use_cached_datasheet(partnum, path, output_dir, dstype)
 
                     elif _download_datasheet(search_result["datasheet"], output_dir) is not False:
-                        __downloaded_datasheet(partnum, path, output_dir)
+                        __downloaded_datasheet(partnum, path, output_dir, dstype)
                 
                 elif os.path.exists(path) and os.path.getsize(path) > 1:
-                    __use_cached_datasheet(partnum, path, output_dir)
+                    __use_cached_datasheet(partnum, path, output_dir, dstype)
                 
                 # If search fails, and we don't already have the datasheet, guess datasheet URL and skip the hires image download
                 elif _try_download_datasheet(partnum, output_dir) is not False:
-                    __downloaded_datasheet(partnum, path, output_dir)
+                    __downloaded_datasheet(partnum, path, output_dir, dstype)
 
                 # Failed to download with search or guess :(
                 else: 
+                    return False
+                return True
+
+            # We already have a hi-res image and the datasheet - perfect!
+            else:
+                fprint("Using cached hi-res part image for " + partnum)
+                __use_cached_datasheet(partnum, path, output_dir, dstype)
+                return True
+    
+        for fullpartnum in partnums:
+            if fullpartnum[0:2] == "BL": # catalog.belden.com entry
+                partnum = fullpartnum[2:]
+                dstype = "Belden"
+            elif fullpartnum[0:2] == "AW":
+                partnum = fullpartnum[2:]
+                dstype = "Alphawire"
+            else:
+                dstype = "Belden" # guess
+                partnum = fullpartnum
+            if not run_search(partnum):
+                success = False
+                if len(partnum.split(" ")) > 1:
+                    for name in partnum.split(" "):
+                        fprint("Retrying with alternate name: " + name)
+                        if(run_search(name)):
+                            success = True
+                            break
+                        time.sleep(delay)
+                    if not success:
+                        namestripped = partnum.strip(" ")
+                        fprint("Retrying with alternate name: " + namestripped)
+                        if(run_search(namestripped)):
+                            success = True
+                            time.sleep(delay)
+                if not success:
                     fprint("Failed to download datasheet for part " + partnum)
                     bar.text = "Failed to download datasheet for part " + partnum
                     failed.append(partnum)
                     bar(skipped=True)
                     bar(skipped=True)
-
-            # We already have a hi-res image and the datasheet - perfect!
-            else:
-                fprint("Using cached hi-res part image for " + partnum)
-                __use_cached_datasheet(partnum, path, output_dir)
-    
+            time.sleep(delay)
+            
     if len(failed) > 0:
         fprint("Failed to download:")
         for partnum in failed:
@@ -227,21 +356,73 @@ def get_multi(partnums):
 
 
 if __name__ == "__main__":
-    partnums = ["10GXS12", "RST 5L-RKT 5L-949", 
-"10GXS13",
-"10GXW12",
-"10GXW13",
-"2412",
-"2413",
-"OSP6AU",
-"FI4D024P9",
-"FISD012R9",
-"FDSD012A9",
-"FSSL024NG",
-"FISX006W0",
-"FISX00103",
-"C6D1100007"
+    # partnums = ["BLFISX012W0", "BL7958A", "BL10GXS12", "BLRST 5L-RKT 5L-949", 
+    # "BL10GXS13",
+    # "BL10GXW12",
+    # "BL10GXW13",
+    # "BL2412",
+    # "BL2413",
+    # "BLOSP6AU",
+    # "BLFI4D024P9",
+    # "BLFISD012R9",
+    # "BLFDSD012A9",
+    # "BLFSSL024NG",
+    # "BLFISX006W0",
+    # "BLFISX00103",
+    # "BLC6D1100007"
+    # ]
+    partnums = [
+    # Actual cables in Jukebox
+    "AW86104CY",
+    "AW3050",
+    "AW6714",
+    "AW1172C",
+    "AW2211/4",
+
+    "BLTF-1LF-006-RS5N",
+    "BLTF-SD9-006-RI5N",
+    "BLTT-SLG-024-HTNN",
+    "BLFISX012W0",
+    "BLFI4X012W0",
+    "BLSPE101 006Q",
+    "BLSPE102 006Q",
+    "BL7922A 010Q",
+    "BL7958A 008Q",
+    "BLIOP6U 010Q",
+    "BL10GXW13 D15Q",
+    "BL10GXW53 D15Q",
+    "BL29501F 010Q",
+    "BL29512 010Q",
+    "BL3106A 010Q",
+    "BL9841 060Q",
+    "BL3105A 010Q",
+    "BL3092A 010Q",
+    "BL8760 060Q",
+    "BL6300UE 008Q",
+    "BL6300FE 009Q",
+    "BLRA500P 006Q",
+
+
+    # Some ones I picked, including some invalid ones
+    "BL10GXS12", 
+    "BLRST 5L-RKT 5L-949", 
+    "BL10GXS13",
+    "BL10GXW12",
+    "BL10GXW13",
+    "BL2412",
+    "BL2413",
+    "BLOSP6AU",
+    "BLFI4D024P9",
+    "BLFISD012R9",
+    "BLFDSD012A9",
+    "BLFSSL024NG",
+    "BLFISX006W0",
+    "BLFISX00103",
+    "BLC6D1100007"
+
     ]
-    get_multi(partnums)
+    #query_search("86104CY", "Alphawire")
+    get_multi(partnums, 0.25)
+    #query_search("10GXS13", "Belden")
 
 

install-deps.sh

@@ -1,4 +1,5 @@
 #!/bin/sh
+# change this to #!/bin/bash for windows
 
 if ! [ -d "venv" ]; then
     ./venv-setup.sh

inv_kin_testing.ipynb

@@ -0,0 +1,359 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Inverse Kinematics Simulation"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from scipy.optimize import fsolve\n",
+    "import matplotlib.pyplot as plt\n",
+    "import math\n",
+    "import numpy as np"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Polar coordinate functions"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "def cartesian_to_polar(x, y):\n",
+    "    r = np.sqrt(x**2 + y**2)\n",
+    "    theta = np.arctan2(y, x)\n",
+    "    return r, theta\n",
+    "\n",
+    "def polar_to_cartesian(r, theta):\n",
+    "    x = r * np.cos(theta)\n",
+    "    y = r * np.sin(theta)\n",
+    "    return x, y"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Calculate end-joint values from xyz position"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 157,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "[45.0, 90.70951422006029, 110.71500355039022, -20.005489330329944]\n",
+      "[45.0, -90.70951422006029, 110.71500355039022, -110.00548933032994]\n"
+     ]
+    }
+   ],
+   "source": [
+    "def normalize_degree(theta):\n",
+    "    # Normalizes degree theta from -1.5pi to 1.5pi\n",
+    "    multiplier = 1.5\n",
+    "    normalized_theta = theta % (math.pi * multiplier)\n",
+    "    \n",
+    "    # Maintain the negative sign if the original angle is negative\n",
+    "    if theta < 0:\n",
+    "        normalized_theta -= math.pi * multiplier\n",
+    "\n",
+    "    # Return angle\n",
+    "    return normalized_theta\n",
+    "\n",
+    "def get_joints_from_xyz_rel(x, y, z, initial_guess = (math.pi/2, math.pi/2, 0), limbs=(.422864, .359041, .092124)):\n",
+    "    # Get polar coordinates of x,y pair\n",
+    "    r, theta = cartesian_to_polar(x, y)\n",
+    "    \n",
+    "    # Get length of each limb\n",
+    "    l1, l2, l3 = limbs\n",
+    "    \n",
+    "    # Formulas to find out joint positions for (r, z)\n",
+    "    def inv_kin_r_z(p):\n",
+    "        a, b, c = p\n",
+    "\n",
+    "        return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r\n",
+    "                l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - z,  # z\n",
+    "                a-b-c) # wrist angle\n",
+    "\n",
+    "\n",
+    "    # Normalize angles\n",
+    "    base, shoulder, elbow, wrist = [normalize_degree(deg) for deg in [theta, *fsolve(inv_kin_r_z, initial_guess)]]\n",
+    "\n",
+    "    # Return result\n",
+    "    return base, shoulder, elbow, wrist\n",
+    "\n",
+    "def get_joints_from_xyz_abs(x, y, z):\n",
+    "    joints = get_joints_from_xyz_rel(x, y, z)\n",
+    "\n",
+    "    # Joint offsets\n",
+    "    # Base, Shoulder, Elbow, Wrist\n",
+    "    inverse = [1, -1, 1, 1]\n",
+    "    offsets = [0, 0, 0, -math.pi/2]\n",
+    "\n",
+    "    # Return adjusted joint positions\n",
+    "    return [o+j*i for j, o, i in zip(joints, offsets, inverse)]\n",
+    "\n",
+    "print([math.degrees(deg) for deg in get_joints_from_xyz_rel(0.3, 0.3, 0.3)])\n",
+    "print([math.degrees(deg) for deg in get_joints_from_xyz_abs(0.3, 0.3, 0.3)])"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "### Simulate arm and joint angles"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 164,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Target position (x,y,z): 0.3 0.3 0.3\n",
+      "Angles (base, shoulder, elbow, wrist): [45.0, 90.7095, 110.715, -20.0055]\n",
+      "Robot Angles: [45.0, -90.7095, 110.715, -110.0055]\n",
+      "elbow (x,y): -0.005 0.423\n",
+      "wrist (x,y): 0.332 0.3\n",
+      "tool  (x,y): 0.424 0.3\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": 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truncated
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "def draw_arm(x, y, z):\n",
+    "\n",
+    "    # Get joint angles\n",
+    "    l1, l2, l3 = (.422864, .359041, .092124)\n",
+    "    r, theta = cartesian_to_polar(x, y)\n",
+    "    base, shoulder, elbow, wrist = get_joints_from_xyz_rel(x, y, z)\n",
+    "\n",
+    "    # Print angles\n",
+    "    print('Target position (x,y,z):', x, y, z)\n",
+    "    print('Angles (base, shoulder, elbow, wrist):', [round(math.degrees(i), 4) for i in [base, shoulder, elbow, wrist]])\n",
+    "    print('Robot Angles:', [round(math.degrees(i), 4) for i in get_joints_from_xyz_abs(x, y, z)])\n",
+    "\n",
+    "    # Calculate each joint's endpoint position\n",
+    "    x1, y1 = polar_to_cartesian(l1, shoulder)\n",
+    "    x2, y2 = polar_to_cartesian(l2, shoulder-elbow)\n",
+    "    x2 += x1\n",
+    "    y2 += y1\n",
+    "    x3, y3 = polar_to_cartesian(l3, shoulder-elbow-wrist)\n",
+    "    x3 += x2\n",
+    "    y3 += y2\n",
+    "\n",
+    "    # Print each joint's endpoint position\n",
+    "    print('elbow (x,y):', round(x1,3), round(y1,3))\n",
+    "    print('wrist (x,y):', round(x2,3), round(y2,3))\n",
+    "    print('tool  (x,y):', round(x3,3), round(y3,3))\n",
+    "\n",
+    "    # Draw limbs\n",
+    "    plt.plot([0, x1], [0, y1], color='cyan', linewidth=7)\n",
+    "    plt.plot([x1, x2], [y1, y2], color='orange', linewidth=7)\n",
+    "    plt.plot([x2, x2+l3], [y2, y2], color='red', linewidth=7)\n",
+    "\n",
+    "    # Display angles\n",
+    "    plt.text(0, 0.02, f'{round(math.degrees(shoulder), 2)}°')\n",
+    "    plt.text(x1, y1+0.02, f'{round(math.degrees(elbow), 2)}°')\n",
+    "    plt.text(x2, y2+0.02, f'{round(math.degrees(wrist), 2)}°')\n",
+    "\n",
+    "    # Display r arrow\n",
+    "    plt.annotate(f'', xy=(0, 0), xycoords='data', xytext=(x3, 0), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
+    "    plt.annotate(f'r={round(r,4)}', xy=(x2/2, 0.01), xycoords='data', xytext=(x2/2, 0), textcoords='offset points')\n",
+    "\n",
+    "    # Display z arrow\n",
+    "    plt.annotate(f'', xy=(x3, 0), xycoords='data', xytext=(x3, y3), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
+    "    plt.annotate(f'z={round(y2,4)}', xy=(x3+0.01, y2/2), xycoords='data', xytext=(x3/2, 0), textcoords='offset points')\n",
+    "   \n",
+    "    # Display plot\n",
+    "    ax = plt.subplot(111)\n",
+    "    ax.spines[['right', 'top']].set_visible(False)\n",
+    "    plt.axis('equal')\n",
+    "    plt.show()\n",
+    "\n",
+    "draw_arm(0.3, 0.3, 0.3)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 165,
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Target position (x,y,z): 0.3 0.3 0.3\n",
+      "Angles (base, shoulder, elbow, wrist): [45.0, 90.7095, 110.715, -20.0055]\n",
+      "Robot Angles: [45.0, -90.7095, 110.715, -110.0055]\n",
+      "elbow (x,y): -0.005 0.423\n",
+      "wrist (x,y): 0.332 0.3\n",
+      "tool  (x,y): 0.424 0.3\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": "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 truncated
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Target position (x,y,z): -0.3 -0.3 0.7\n",
+      "Angles (base, shoulder, elbow, wrist): [-135.0, 71.7346, 15.5104, 56.2242]\n",
+      "Robot Angles: [-135.0, -71.7346, 15.5104, -33.7758]\n",
+      "elbow (x,y): 0.133 0.402\n",
+      "wrist (x,y): 0.332 0.7\n",
+      "tool  (x,y): 0.424 0.7\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": "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 truncated
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Target position (x,y,z): -0.3 0.4 0.2\n",
+      "Angles (base, shoulder, elbow, wrist): [126.8699, 74.2826, 109.5002, -35.2176]\n",
+      "Robot Angles: [126.8699, -74.2826, 109.5002, -125.2176]\n",
+      "elbow (x,y): 0.115 0.407\n",
+      "wrist (x,y): 0.408 0.2\n",
+      "tool  (x,y): 0.5 0.2\n"
+     ]
+    },
+    {
+     "data": {
+      "image/png": "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 truncated
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "draw_arm(0.3, 0.3, 0.3)\n",
+    "draw_arm(-0.3, -0.3, 0.7)\n",
+    "draw_arm(-0.3, 0.4, 0.2)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Interactive Arm"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 160,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "application/vnd.jupyter.widget-view+json": {
+       "model_id": "5617bc9f737949c4bc84c787ff88ce16",
+       "version_major": 2,
+       "version_minor": 0
+      },
+      "text/plain": [
+       "interactive(children=(FloatSlider(value=0.3, description='x', max=1.0, step=0.01), FloatSlider(value=0.3, desc…"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    },
+    {
+     "data": {
+      "text/plain": [
+       "<function __main__.draw_arm(x, y, z)>"
+      ]
+     },
+     "execution_count": 160,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "from ipywidgets import interact, FloatSlider\n",
+    "\n",
+    "# Interactive slider for z coordinate\n",
+    "interact(draw_arm,  x=FloatSlider(min=0, max=1, step=0.01, value=0.3),\n",
+    "                    y=FloatSlider(min=0, max=1, step=0.01, value=0.3),\n",
+    "                    z=FloatSlider(min=0, max=1, step=0.01, value=0.3))\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.10.4"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}

led_control.py

@@ -22,6 +22,13 @@ leds_size = None
 leds_normalized = None
 controllers = None
 data = None
+exactdata = None
+rings = None
+ringstatus = None
+mode = "Startup"
+firstrun = True
+changecount = 0
+animation_time = 0
 start = uptime()
 
 def ping(host):
@@ -48,30 +55,50 @@ def map():
     global leds_size
     global leds_normalized
     global controllers
+    global rings
+    global ringstatus
+    global animation_time
+    
 
     with open('config.yml', 'r') as fileread:
         #global config
         config = yaml.safe_load(fileread)
 
+    animation_time = config["animation_time"]
     leds = list()
     leds_size = list()
     controllers = list()
+    rings = list(range(len(config["position_map"])))
+    ringstatus = list(range(len(config["position_map"])))
+    #print(rings)
     #fprint(config["led"]["map"])
+    generate_map = False
+    map = list()
     for shape in config["led"]["map"]:
         if shape["type"] == "circle":
+            
+            if generate_map:
+                map.append((shape["pos"][1],shape["pos"][0]))
             #fprint(shape["pos"])
             anglediv = 360.0 / shape["size"]
             angle = 0
             radius = shape["diameter"] / 2
             lednum = shape["start"]
+            for item in config['position_map']:
+            # Check if the current item's position matches the target position
+                #print(item['pos'],(shape["pos"][1],shape["pos"][0]))
+                if tuple(item['pos']) == (shape["pos"][1],shape["pos"][0]):
+                    rings[item["index"]] = (shape["pos"][1],shape["pos"][0],lednum,lednum+shape["size"]) # rings[index] = x, y, startpos, endpos
+                    ringstatus[item["index"]] = [None, None]
+                    break
             if len(leds) < lednum + shape["size"]:
                 for x in range(lednum + shape["size"] - len(leds)):
                     leds.append(None)
                     leds_size.append(None)
             while angle < 359.999:
                 tmpangle = angle + shape["angle"]
-                x = math.cos(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][0]
-                y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][1]
+                x = math.cos(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][1] # flip by 90 degress when we changed layout
+                y = math.sin(tmpangle * (math.pi / 180.0)) * radius + shape["pos"][0]
                 leds[lednum] = (x,y)
                 lednum = lednum + 1
                 angle = angle + anglediv
@@ -97,7 +124,23 @@ def map():
                 dist += distdiv
                 lednum = lednum + 1
 
+    if generate_map:
+        map = sorted(map, key=lambda x: (-x[1], x[0]))
+        print(map)
+        import matplotlib.pyplot as plt
+        plt.axis('equal')
+        x, y = zip(*map)
+        plt.scatter(x, y, s=12)
+        #plt.plot(x, y, marker='o')
+        #plt.scatter(*zip(*leds), s=3)
+        for i, (x_pos, y_pos) in enumerate(map):
+            plt.text(x_pos, y_pos, str(i), color="red", fontsize=12)
+        plt.savefig("map2.png", dpi=600, bbox_inches="tight")
+        data = {"map": [{"index": i, "pos": str(list(pos))} for i, pos in enumerate(map)]}
+        yaml_str = yaml.dump(data, default_flow_style=False)
+        print(yaml_str)
 
+    print(rings)
     flag = 0
     for x in leds:
         if x is None:
@@ -148,9 +191,10 @@ def init():
     global leds_size
     global controllers
     global data
+    global exactdata
     sender = sacn.sACNsender(fps=config["led"]["fps"], universeDiscovery=False)
     sender.start()  # start the sending thread
-    for x in range(len(controllers)):
+    """for x in range(len(controllers)):
         print("Waiting for the controller at", controllers[x][2], "to be online...", end="")
         count = 0
         while not ping(controllers[x][2]):
@@ -159,7 +203,7 @@ def init():
                 fprint(" ERROR: controller still offline after " + str(count) + " seconds, continuing...")
                 break
         if count < config["led"]["timeout"]:
-            fprint(" done")
+            fprint(" done")"""
     for x in range(len(controllers)):
         print("Activating controller", x, "at", controllers[x][2], "with", controllers[x][1]-controllers[x][0], "LEDs.")
         sender.activate_output(x+1)  # start sending out data
@@ -168,22 +212,26 @@ def init():
 
     # initialize global pixel data list
     data = list()
+    exactdata = list()
     for x in range(len(leds)):
         if leds_size[x] == 3:
+            exactdata.append(None)
             data.append((20,20,127))
         elif leds_size[x] == 4:
+            exactdata.append(None)
             data.append((50,50,255,0))
         else:
+            exactdata.append(None)
             data.append((0,0,0))
     sendall(data)
     #time.sleep(50000)    
     fprint("Running start-up test sequence...")
     for y in range(1):
         for x in range(len(leds)):
-            setpixel(5,5,5,x)
+            setpixel(0,60,144,x)
         sendall(data)
         #time.sleep(2)
-        #alloffsmooth()
+    alloffsmooth()
 
 def sendall(datain):
     # send all LED data to all controllers
@@ -260,6 +308,209 @@ def setpixelnow(r, g, b, num):
     setpixel(r,g,b,num)
     senduniverse(data, num)
 
+def setmode(stmode, r=0,g=0,b=0):
+    global mode
+    global firstrun
+    if stmode is not None:
+        if mode != stmode:
+            firstrun = True
+    
+        mode = stmode
+    
+
+def setring(r,g,b,idx):
+    
+    ring = rings[idx]
+    for pixel in range(ring[2],ring[3]):
+        setpixel(r,g,b,pixel)
+    #global data
+    #senduniverse(data, ring[2])
+
+def runmodes(ring = -1, speed = 1):
+    global mode
+    global firstrun
+    global changecount
+    fprint("Mode: " + str(mode))
+    if mode == "Startup":
+        # loading animation. cable check
+        if firstrun:
+            changecount = animation_time * 3
+            firstrun = False
+            for x in range(len(ringstatus)):
+                ringstatus[x] = [True, animation_time]
+            
+        if changecount > 0:
+            fprint(changecount)
+            changecount = fadeorder(0,len(leds), changecount, 0,50,100)
+        else:
+            setmode("Startup2")
+            
+                
+    elif mode == "Startup2":
+        if firstrun:
+            firstrun = False
+            
+        else:
+            for x in range(len(ringstatus)):
+                if ringstatus[x][0]:
+                    setring(0, 50, 100, x)
+                else:
+                    ringstatus[x][1] = fadeall(rings[x][2],rings[x][3], ringstatus[x][1], 100,0,0) # not ready
+
+    elif mode == "StartupCheck":
+        if firstrun:
+            firstrun = False
+            for x in range(len(ringstatus)):
+                ringstatus[x] = [False, animation_time]
+        else:
+            for x in range(len(ringstatus)):
+                if ringstatus[x][0]:
+                    ringstatus[x][1] = fadeall(rings[x][2],rings[x][3], ringstatus[x][1], 0,50,100) # ready  
+                else:
+                    setring(100, 0, 0, x)
+
+    elif mode == "GrabA":
+        if firstrun:
+            firstrun = False
+            changecount = animation_time # 100hz
+        if changecount > 0:
+            changecount = fadeall(rings[ring][2],rings[ring][3], changecount, 100,0,0)
+        else:
+            setring(100,0,0,ring)
+            setmode("GrabB")
+    elif mode == "GrabB":
+        if firstrun:
+            firstrun = False
+            changecount = animation_time # 100hz
+        if changecount > 0:
+            changecount = fadeorder(rings[ring][2],rings[ring][3], changecount, 0,100,0)
+        else:
+            setring(0,100,0,ring)
+            setmode("idle")
+    elif mode == "GrabC":
+        if firstrun:
+            firstrun = False
+            changecount = animation_time # 100hz
+        if changecount > 0:
+            changecount = fadeall(rings[ring][2],rings[ring][3], changecount, 0,50,100)
+        else:
+            setring(0,50,100,ring)
+            setmode("idle")
+    elif mode == "idle":
+        time.sleep(0)
+
+    sendall(data)
+            
+def fadeall(idxa,idxb,sizerem,r,g,b):
+    if sizerem < 1:
+        return 0
+    global exactdata
+    sum = 0
+    for x in range(idxa,idxb):
+        if exactdata[x] is None:
+            exactdata[x] = data[x]
+        old = exactdata[x]
+        dr = (r - old[0])/sizerem
+        sum += abs(dr)
+        dr += old[0]
+        dg = (g - old[1])/sizerem
+        sum += abs(dg)
+        dg += old[1]
+        db = (b - old[2])/sizerem 
+        db += old[2]
+        sum += abs(db)
+        exactdata[x] = (dr, dg, db)
+        #print(new)
+        setpixel(dr, dg, db, x)
+        if sizerem == 1:
+            exactdata[x] = None
+    if sum == 0 and sizerem > 2:
+        sizerem = 2
+    return sizerem - 1
+        
+def fadeorder(idxa,idxb,sizerem,r,g,b):
+    if sizerem < 1:
+        return 0
+    global exactdata
+    drs = 0
+    dgs = 0
+    dbs = 0
+    sum = 0
+    for x in range(idxa,idxb):
+        if exactdata[x] is None:
+            exactdata[x] = data[x]
+        old = exactdata[x]
+        dr = (r - old[0])
+        dg = (g - old[1])
+        db = (b - old[2])
+        drs += dr
+        dgs += dg
+        dbs += db
+    
+    drs /= sizerem
+    dgs /= sizerem
+    dbs /= sizerem
+    sum += abs(drs) + abs(dgs) + abs(dbs)
+    print(drs,dgs,dbs)
+    for x in range(idxa,idxb):
+        old = exactdata[x]
+        new = list(old)
+        if drs > 0:
+            if old[0] + drs > r:
+                new[0] = r
+                drs -= r - old[0]
+            else:
+                new[0] = old[0] + drs
+                drs = 0
+        if dgs > 0:
+            if old[1] + dgs > g:
+                new[1] = g
+                dgs -= g - old[1]
+            else:
+                new[1] = old[1] + dgs
+                dgs = 0
+        if dbs > 0:
+            if old[2] + dbs > b:
+                new[2] = b
+                dbs -= b - old[2]
+            else:
+                new[2] = old[2] + dbs
+                dbs = 0
+
+        if drs < 0:
+            if old[0] + drs < r:
+                new[0] = r
+                drs -= r - old[0]
+            else:
+                new[0] = old[0] + drs
+                drs = 0
+        if dgs < 0:
+            if old[1] + dgs < g:
+                new[1] = g
+                dgs -= g - old[1]
+            else:
+                new[1] = old[1] + dgs
+                dgs = 0
+        if dbs < 0:
+            if old[2] + dbs < b:
+                new[2] = b
+                dbs -= b - old[2]
+            else:
+                new[2] = old[2] + dbs
+                dbs = 0
+
+        if drs != 0 or dgs != 0 or dbs != 0:
+            exactdata[x] = new
+            setpixel(new[0],new[1],new[2],x)
+        
+        if sizerem == 1:
+            exactdata[x] = None
+
+    if sum == 0 and sizerem > 2:
+        sizerem = 2
+    return sizerem - 1
+
+
 def setpixel(r, g, b, num):
     global data
     global leds_size
@@ -290,7 +541,7 @@ def close():
     time.sleep(0.5)
     sender.stop()
 
-def mapimage(image, fps=60):
+def mapimage(image, fps=90):
     global start
     while uptime() - start < 1/fps:
         time.sleep(0.00001)
@@ -328,16 +579,105 @@ def mapimage(image, fps=60):
     global data
     fastsendall(data)
 
+def mainloop(stmode, ring = -1, fps = 100, preview = False):
+    global start
+    while uptime() - start < 1/fps:
+        time.sleep(0.00001)
+    fprint(1 / (uptime() - start))
+    start = uptime()
+    if mode is not None:
+        setmode(stmode)
+    runmodes(ring)
+    if preview:
+        drawdata()
+
+def drawdata():
+    #tmp = list()
+    #for x in len(leds):
+    #    led = leds[x]
+    #    tmp.append((led[0], led[1], data[x]))
+
+    x = [led[0] for led in leds]
+    y = [led[1] for led in leds]
+    colors = data
+    colors_normalized = [(x[0]/255, x[1]/255, x[2]/255) for x in colors]
+    # Plot the points
+    plt.scatter(x, y, c=colors_normalized)
+
+    # Optional: add grid, title, and labels
+    plt.grid(True)
+    plt.title('Colored Points')
+    plt.xlabel('X')
+    plt.ylabel('Y')
+    plt.show()
+    plt.savefig("map3.png", dpi=50, bbox_inches="tight")
+    plt.clf()
+
+def startup_animation(show):
+
     
+    stmode = "Startup"
+    mainloop(stmode, preview=show)
+    while mode == "Startup":
+        mainloop(None, preview=show)
+    for x in range(54):
+        ringstatus[x][0] = False
+        mainloop(None, preview=show)
+
+    for x in range(animation_time):
+        mainloop(None, preview=show)
+    clear_animations()
+    stmode = "StartupCheck"
+    mainloop(stmode, preview=show)
+    clear_animations()
+
+def clear_animations():
+    for x in range(len(leds)):
+        exactdata[x] = None
+
+def do_animation(stmode, ring=-1):
+    mainloop(stmode, ring, preview=show)
+    wait_for_animation(ring)
+
+def start_animation(stmode, ring=-1):
+    mainloop(stmode, ring, preview=show)
+
+def wait_for_animation(ring=-1):
+    while mode != "idle":
+        mainloop(None, ring, preview=show)
+
 if __name__ == "__main__":
     init()
-    cap = cv2.VideoCapture('output.mp4')
+    import matplotlib.pyplot as plt
+    """cap = cv2.VideoCapture('badapple.mp4')
     while cap.isOpened():
         ret, frame = cap.read()
         if not ret:
             break
-        mapimage(frame)
+        mapimage(frame, fps=30)"""
+    show = True
+    ring = 1
+    startup_animation(show)
+    for x in range(54):
+        ringstatus[x][0] = True
+        mainloop(None, preview=show)
+    for x in range(animation_time):
+        mainloop(None, preview=show)
+    
+    do_animation("GrabA", 1)
 
-    time.sleep(1)
+    do_animation("GrabA", 5)
+    start_animation("GrabC", 1)
+    
+    wait_for_animation(1)
+    do_animation("GrabC", 5)
+    
     close()
-    #sys.exit(0)
+    #sys.exit(0)
+
+
+    # blue : default
+    # green : target
+    # yellow : crosshair
+    # red : missing 
+    # uninitialized : red/purple?

read_datasheet.py

@@ -2,6 +2,8 @@
 
 # Parse Belden catalog techdata datasheets 
 
+import pandas as pd
+pd.set_option('future.no_silent_downcasting', True)
 from PyPDF2 import PdfReader
 import camelot
 import numpy as np
@@ -9,8 +11,15 @@ from PIL import Image
 import io
 import json
 from util import fprint
+import uuid
+from util import run_cmd
+import os
 
-def parse(filename, output_dir):
+def touch(path):
+    with open(path, 'a'):
+        os.utime(path, None)
+
+def parse(filename, output_dir, partnum, dstype):
 
     # Extract table data
 
@@ -21,7 +30,9 @@ def parse(filename, output_dir):
     reader = PdfReader(filename)
     page = reader.pages[0]
     table_list = {}
+
     for table in tables:
+        table.df.infer_objects(copy=False)
         table.df.replace('', np.nan, inplace=True)
         table.df.dropna(inplace=True, how="all")
         table.df.dropna(inplace=True, axis="columns", how="all")
@@ -87,6 +98,7 @@ def parse(filename, output_dir):
 
     # Table parsing and reordring
     tables = dict()
+    torename = dict()
     previous_table = ""
     for table_name in table_list.keys():
         # determine shape: horizontal or vertical
@@ -118,7 +130,8 @@ def parse(filename, output_dir):
         for table_name_2 in table_list.keys(): 
             if table_name_2.find(table.iloc[-1, 0]) >= 0:
                 # Name taken from table directly above - this table does not have a name
-                table_list["Specs " + str(len(tables))] = table_list.pop(table_name_2, None) # rename table to arbitrary altername name
+                torename[table_name_2] = "Specs " + str(len(tables))
+                #table_list["Specs " + str(len(tables))] = table_list[table_name_2] # rename table to arbitrary altername name
                 break
 
         if vertical:
@@ -137,44 +150,119 @@ def parse(filename, output_dir):
 
 
         # multi-page table check
-        if table_name.isdigit() and len(tables) > 1:
-            fprint(table_name)
-            fprint(previous_table)
-            
-            
-            
-            
-            main_key = previous_table
-            cont_key = table_name
-            fprint(tables)
-            if vertical == False:
-                main_keys = list(tables[main_key].keys())
-                for i, (cont_key, cont_values) in enumerate(tables[cont_key].items()):
-                    if i < len(main_keys):
-                        fprint(tables[main_key][main_keys[i]])
-                        tables[main_key][main_keys[i]] = (tables[main_key][main_keys[i]] + (cont_key,) + cont_values)
-
-                del tables[table_name]
-
-            else:
-                for key in tables[cont_key].keys():
-                    tables[main_key][key] = tables[cont_key][key]
-                del tables[table_name]
+        if dstype == "Belden":
+            if table_name.isdigit() and len(tables) > 1:
+                #fprint(table_name)
+                #fprint(previous_table)
+                
+                
+                
+                
+                main_key = previous_table
+                cont_key = table_name
+                #fprint(tables)
+                if vertical == False:
+                    main_keys = list(tables[main_key].keys())
+                    for i, (cont_key, cont_values) in enumerate(tables[cont_key].items()):
+                        if i < len(main_keys):
+                            #fprint(tables[main_key][main_keys[i]])
+                            tables[main_key][main_keys[i]] = (tuple(tables[main_key][main_keys[i]]) + (cont_key,) + cont_values)
+    
+                    del tables[table_name]
+    
+                else:
+                    for key in tables[cont_key].keys():
+                        tables[main_key][key] = tables[cont_key][key]
+                    del tables[table_name]
 
         previous_table = table_name
     
+    # remove renamed tables
+    for table_name in torename.keys():
+        tables[torename[table_name]] = tables[table_name]
+        del tables[table_name]
+    # remove multi-line values that occasionally squeak through
+    def replace_newlines_in_dict(d):
+        for key, value in d.items():
+            if isinstance(value, str):
+                # Replace \n with " " if the value is a string
+                d[key] = value.replace('\n', ' ')
+            elif isinstance(value, dict):
+                # Recursively call the function if the value is another dictionary
+                replace_newlines_in_dict(value)
+        return d
+    
+    tables = replace_newlines_in_dict(tables)
 
-    fprint(tables)
-    with open(output_dir + "/tables.json", 'w') as json_file:
-        json.dump(tables, json_file)
+    # summary
+
+    output_table = dict()
+    output_table["partnum"] = partnum
+    id = str(uuid.uuid4())
+    output_table["id"] = id
+    #output_table["position"] = id
+    #output_table["brand"] = brand
+    output_table["fullspecs"] = tables
+    output_table["searchspecs"] = {"partnum": partnum, **flatten(tables)}
+    
+    output_table["searchspecs"]["id"] = id
+    
 
 
+    #print(output_table)
+
+    run_cmd("rm \"" + output_dir + "\"/*.json") # not reliable!
+    with open(output_dir + "/" + output_table["searchspecs"]["id"] + ".json", 'w') as json_file:
+        json.dump(output_table["searchspecs"], json_file)
+    touch(output_dir + "/parsed")
+    return output_table
 
 
+def flatten(tables):
+    def convert_to_number(s):
+        try:
+            # First, try converting to an integer.
+            return int(s)
+        except ValueError:
+            # If that fails, try converting to a float.
+            try:
+                return float(s)
+            except ValueError:
+                # If it fails again, return the original string.
+                return s
+    out = dict()
+    #print("{")
+    for table in tables.keys():
+        for key in tables[table].keys():
+            if len(key) < 64:
+                keyname = key
+            else:
+                keyname = key[0:64]
 
-    return tables
+            fullkeyname = (table + ": " + keyname).replace(".","")
+            if type(tables[table][key]) is not tuple:
+                out[fullkeyname] = convert_to_number(tables[table][key])
+                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+            elif len(tables[table][key]) == 1:
+                out[fullkeyname] = convert_to_number(tables[table][key][0])
+                
+                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+
+            # if the item has at least two commas in it, split it
+            if tables[table][key].count(',') > 0:
+                out[fullkeyname] = list(map(lambda x: x.strip(), tables[table][key].split(",")))
+                #print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+
+            # if the item has at least two commas in it, split it
+            if tables[table][key].count(',') > 0:
+                out[fullkeyname] = list(map(lambda x: x.strip(), tables[table][key].split(",")))
+                print("\"" + keyname + "\":", "\"" + str(out[fullkeyname]) + "\",")
+
+
+    #print("}")
+    return out
 
     
 
 if __name__ == "__main__":
-    parse("test2.pdf", "10GXS13")
+    parse("test2.pdf", "cables/10GXS13", "10GXS13")

requirements.txt

@@ -5,13 +5,16 @@ pypdf2==2.12.1
 alive-progress
 requests
 git+https://github.com/Byeongdulee/python-urx.git
-psycopg2
+meilisearch
 pyyaml
 Flask
 selenium
 sacn
 uptime
 websockets
+numpy
+scipy
+ipywidgets
 
 # Development
 matplotlib

run.py

@@ -89,6 +89,9 @@ def start_server_socket():
 
     while True:
         #print("HI")
+
+        # Handeling Server Requests Loop, will run forever
+
         if not from_server_queue.empty():
             client_id, message = from_server_queue.get()
             fprint(f"Message from client {client_id}: {message}")
@@ -113,7 +116,7 @@ def start_server_socket():
                     case "log":
                         fprint("log message")
                         if call == "send":
-                            fprint("webapp: " + data)
+                            fprint("webapp: " + str(data), sendqueue=to_server_queue)
                         elif call == "request":
                             fprint("")
 
@@ -124,6 +127,21 @@ def start_server_socket():
                         elif call == "request":
                             fprint("")
 
+
+                    case "ping":
+                        fprint("Pong!!!")
+
+                    # Lucas' notes
+                    # Add a ping pong :) response/handler
+                    # Add a get cable response/handler
+                    #       this will tell the robot arm to move
+                    # Call for turning off everything
+
+                    # TODO Helper for converting Python Dictionaries to JSON
+                    # make function: pythonData --> { { "type": "...", "call": "...", "data": pythonData } }
+                            
+                    # to send: to_server_queue.put(("*", "JSON STRING HERE")) # replace * with UUID of client to send to one specific location
+                    
                     case "cable_details":
                         fprint("cable_details message")
                         if call == "send":
@@ -235,7 +253,7 @@ def setup_server(pool):
 
     if camera_ready is False:
         fprint("waiting for " + "Camera initilization" + " to complete...", sendqueue=to_server_queue)
-        camera = process_video.qr_reader(config["cameras"]["banner"]["ip"], config["cameras"]["banner"]["port"])
+        # camera = process_video.qr_reader(config["cameras"]["banner"]["ip"], config["cameras"]["banner"]["port"])
 
     fprint("Camera initialized.", sendqueue=to_server_queue)
 
@@ -262,8 +280,8 @@ def mainloop_server(pool):
         killall()
     counter = counter + 1
 
-    fprint("Looking for QR code...")
-    print(camera.read_qr(30))
+    # fprint("Looking for QR code...")
+    # print(camera.read_qr(30))
 
 def run_loading_app():
     

search.py

@@ -0,0 +1,117 @@
+"""Interactions with the Meilisearch API for adding and searching cables."""
+from meilisearch import Client
+from meilisearch.task import TaskInfo
+from meilisearch.errors import MeilisearchApiError
+import json
+
+DEFAULT_URL = "http://localhost:7700"
+DEFAULT_APIKEY = "fluffybunnyrabbit" # I WOULD RECOMMEND SOMETHING MORE SECURE
+DEFAULT_INDEX = "cables"
+DEFAULT_FILTERABLE_ATTRS = ["partnum", "uuid", "position"] # default filterable attributes
+
+
+class JukeboxSearch:
+    """Class for interacting with the Meilisearch API."""
+    def __init__(self,
+                 url: str = None,
+                 api_key: str = None,
+                 index: str = None,
+                 filterable_attrs: list = None):
+        """Connect to Meilisearch and perform first-run tasks as necessary.
+
+        :param url: Address of the Meilisearch server. Defaults to ``http://localhost:7700`` if unspecified.
+        :param api_key: API key used to authenticate with Meilisearch. It is highly recommended to set this as something
+        secure if you can access this endpoint publicly, but you can ignore this and set Meilisearch's default API key
+        to ``fluffybunnyrabbit``.
+        :param index: The name of the index to configure. Defaults to ``cables`` if unspecified.
+        :param filterable_attrs: List of all the attributes we want to filter by."""
+        # connect to Meilisearch
+        url = url or DEFAULT_URL
+        api_key = api_key or DEFAULT_APIKEY
+        filterable_attrs = filterable_attrs or DEFAULT_FILTERABLE_ATTRS
+        self.index = index or DEFAULT_INDEX
+        self.client = Client(url, api_key)
+        # create the index if it does not exist already
+        try:
+            self.client.get_index(self.index)
+        except MeilisearchApiError as _:
+            self.client.create_index(self.index)
+        # make a variable to easily reference the index
+        self.idxref = self.client.index(self.index)
+
+        # update filterable attributes if needed
+        self.update_filterables(filterable_attrs)
+
+    def add_document(self, document: dict) -> TaskInfo:
+        """Add a cable to the Meilisearch index.
+
+        :param document: Dictionary containing all the cable data.
+        :returns: A TaskInfo object for the addition of the new document."""
+        return self.idxref.add_documents(document)
+
+    def add_documents(self, documents: list):
+        """Add a list of cables to the Meilisearch index.
+
+        :param documents: List of dictionaries containing all the cable data.
+        :returns: A TaskInfo object for the last new document."""
+        taskinfo = None
+        for i in documents:
+            taskinfo = self.add_document(i)
+        return taskinfo
+    
+    def update_filterables(self, filterables: list):
+        """Update filterable attributes and wait for database to fully index. If the filterable attributes matches the
+        current attributes in the database, don't update (saves reindexing).
+        
+        :param filterables: List of all filterable attributes"""
+
+        existing_filterables = self.idxref.get_filterable_attributes()
+        if len(set(existing_filterables).difference(set(filterables))) > 0:
+            taskref = self.idxref.update_filterable_attributes(filterables)
+
+            self.client.wait_for_task(taskref.index_uid)
+
+    def search(self, query: str, filters: str = None):
+        """Execute a search query on the Meilisearch index.
+        
+        :param query: Seach query
+        :param filters: A meilisearch compatible filter statement.
+        :returns: The search results dict. Actual results are in a list under "hits", but there are other nice values that are useful in the root element."""
+        if filters:
+            q = self.idxref.search(query, {"filter": filters})
+        else:
+            q = self.idxref.search(query)
+        return q
+    
+    def _filter_one(self, filter: str):
+        """Get the first item to match a filter.
+        
+        :param filter: A meilisearch compatible filter statement.
+        :returns: A dict containing the results; If no results found, an empty dict."""
+        q = self.search("", filter)
+        if q["estimatedTotalHits"] != 0:
+            return ["hits"][0]
+        else:
+            return dict()
+
+    def get_position(self, position: str):
+        """Get a part by position.
+        
+        :param partnum: The position to search for."""
+        return self._filter_one(f"position = {position}")
+    
+    def get_uuid(self, uuid: str):
+        """Get a specific UUID.
+        
+        :param uuid: The UUID to search for."""
+        return self._filter_one(f"uuid = {uuid}")
+
+    def get_partnum(self, partnum: str):
+        """Get a specific part number.
+        
+        :param partnum: The part number to search for."""
+        return self._filter_one(f"partnum = {partnum}")
+
+# entrypoint
+if __name__ == "__main__":
+    jbs = JukeboxSearch()

source.fish

@@ -0,0 +1 @@
+source venv/bin/activate.fish

source.sh

@@ -0,0 +1 @@
+source venv/bin/activate

test.py

@@ -0,0 +1,106 @@
+print("\u001b[37m")
+
+class Ring:
+    def __init__(self) -> None:
+        self.leds = [0] * 24
+        self.id = 0
+        self.dirty = False
+
+    def __iter__(self) -> iter:
+        yield from self.leds
+
+    def __repr__(self) -> str:
+        return f"Ring<id={self.id}, led_state={' '.join(list(map(lambda x: str(x+1), self.leds)))}, dirty={self.dirty}>"
+
+    def __add__(self, other):
+        self.leds.extend(other)
+        return self
+
+    def __bool__(self):
+        return self.dirty
+
+    def __getitem__(self, index):
+        return self.leds[index]
+    
+    def __setitem__(self, index, value):
+        ivalue = self.leds[index]
+        if ivalue != value:
+            self.dirty = True
+            self.leds[index] = value
+    
+    def __getattr__(self, name):
+        import word2num
+        name = int(word2num.word2num(name))
+        print(name)
+        if 0 <= name < len(self.leds):
+            return self.leds[name]
+        
+
+
+a = Ring()
+print(a)
+b = Ring()
+b.leds[2] = 3
+
+print(a + b)
+
+b.active = True
+
+if b:
+    print("Bexist")
+
+c = [a, b, b, a, a]
+
+d = list(filter(lambda x: bool(x), c))
+
+print(d)
+
+for i, ring in enumerate(c):
+    ring[0] = i
+    print(ring)
+
+print(a, b)
+
+print(f"\u001b[32m{a}")
+print(f"\u001b[37ma")
+
+print(getattr(a, "twenty two"))
+
+# eval(f"getattr(a,\"{input()}\")")
+
+
+# a = r"wow this string is cursed; for example \n"
+
+
+# SEARCHDATA=r"""{ "q": "{QUERY}", "sortCriteria": "relevancy", "numberOfResults": "250", "sortCriteria": "@catalogitemwebdisplaypriority ascending", "searchHub": "products-only-search", "pipeline": "Site Search", "maximumAge": "900000", "tab": "products-search", "locale": "en", "aq": "(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((@syssource==\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\" @catalogitemprimarycategorypublished==true)) ((@catalogitemregionavailable=Global) (@z95xlanguage==en))", "cq": "((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\"Coveo_web_index - rg-nc-prod-sitecore-prod\")) OR (@source==(\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\",\"website_001002_Category_index-rg-nc-prod-sitecore-prod\"))", "firstResult": "0" }, "categoryFacets": "[{\"field\":\"@catalogitemcategories\",\"path\":[],\"injectionDepth\":1000,\"maximumNumberOfValues\":6,\"delimitingCharacter\":\"|\"}]", "facetOptions": "{}", "groupBy": "    [{\"field\":\"@contenttype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[\"Products\"],\"queryOverride\":\"{QUERY}\",\"advancedQueryOverride\":\"(NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B)) ((((((((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) ((@z95xpath=C292F3A37B3A4E6BAB345DF87ADDE516 @z95xid<>C292F3A37B3A4E6BAB345DF87ADDE516) @z95xtemplate==E4EFEB787BDC4B1A908EFC64D56CB2A4)) OR ((@z95xpath=723501A864754FEEB8AE377E4C710271 @z95xid<>723501A864754FEEB8AE377E4C710271) ((@z95xpath=600114EAB0E5407A84AAA9F0985B6575 @z95xid<>600114EAB0E5407A84AAA9F0985B6575) @z95xtemplate==2BE4FD6B3B2C49EBBD9E1F6C92238B05))) OR (@syssource==\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\" @catalogitemprimarycategorypublished==true)) OR ((@z95xpath=3324AF2D58F64C0FB725521052F679D2 @z95xid<>3324AF2D58F64C0FB725521052F679D2) @z95xpath<>C292F3A37B3A4E6BAB345DF87ADDE516)) OR @syssource==\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\") NOT @z95xtemplate==(ADB6CA4F03EF4F47B9AC9CE2BA53FF97,FE5DD82648C6436DB87A7C4210C7413B))) ((@catalogitemregionavailable=Global) (@z95xlanguage==en) OR (@contenttype=(Blogs,Resources,Other)) (NOT @ez120xcludefromcoveo==1))\",\"constantQueryOverride\":\"((@z95xlanguage==en) (@z95xlatestversion==1) (@source==\\"Coveo_web_index - rg-nc-prod-sitecore-prod\\")) OR (@source==(\\"website_001002_catalog_index-rg-nc-prod-sitecore-prod\\",\\"website_001002_Category_index-rg-nc-prod-sitecore-prod\\"))\"},{\"field\":\"@catalogitembrand\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemenvironment\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@catalogitemregionalavailability\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@prez45xtez120xt\",\"maximumNumberOfValues\":5,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@tags\",\"maximumNumberOfValues\":4,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetassettype\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetbrand\",\"maximumNumberOfValues\":3,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetmarket\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsolution\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]},{\"field\":\"@facetsearchcontentpagetype\",\"maximumNumberOfValues\":6,\"sortCriteria\":\"occurrences\",\"injectionDepth\":1000,\"completeFacetWithStandardValues\":true,\"allowedValues\":[]}]" }"""
+
+# QUERY = "AAAAAAAAAAAA"
+
+# b = SEARCHDATA.replace(r"{QUERY}", QUERY)
+
+q = [i * 2 for i in range(10)]
+
+d = {a : b for a,b in enumerate(q)}
+
+print(q)
+
+print(d)
+
+def stalin_sort(a):
+    b = sum(a)
+    b /= len(a)
+    return [b for _ in range(len(a))]
+
+def mao_sort(a):
+    i = 0
+    while i < len(a) - 1:
+        if a[i+1] < a[i]:
+            del a[i]
+        else:
+            i += 1
+    return a
+
+print(stalin_sort(list(range(10))))
+print(mao_sort([1, 3, 2, 4, 5, 8, 7, 6, 9]))
+
+# i l

ur5_control.py

@@ -1,6 +1,8 @@
 import urx
 import math3d as m3d
+from scipy.optimize import fsolve
 import math
+import numpy as np
 import time
 import os
 import logging
@@ -8,6 +10,9 @@ from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
 import sys
 from util import fprint
 
+
+
+
 rob = None
 
 
@@ -45,7 +50,7 @@ def init(ip):
     time.sleep(0.2)
     fprint("UR5 ready.")
 
-def set_pos_abs(x, y, z, xb, yb, zb):
+def set_pos_abs(x, y, z, xb, yb, zb, threshold=None):
     global rob
     new_orientation = m3d.Transform()
     new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
@@ -60,7 +65,7 @@ def set_pos_abs(x, y, z, xb, yb, zb):
     new_trans.pos.y = y
     new_trans.pos.z = z
     #rob.speedj(0.2, 0.5, 99999)
-    rob.set_pose(new_trans, acc=2, vel=2, command="movej")  # apply the new pose
+    rob.set_pose(new_trans, acc=2, vel=2, command="movej", threshold=threshold)  # apply the new pose
 
 def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
     global rob
@@ -80,21 +85,241 @@ def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
     #rob.speedj(0.2, 0.5, 99999)
     rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej")  # apply the new pose
 
+def set_pos_abs_rot_rel(x, y, z, xb, yb, zb):
+    global rob
+    new_orientation = m3d.Transform()
+    new_orientation.orient.rotate_xb(xb)  # Replace rx with the desired rotation around X-axis
+    new_orientation.orient.rotate_yb(yb)  # Replace ry with the desired rotation around Y-axis
+    new_orientation.orient.rotate_zb(zb)  # Replace rz with the desired rotation around Z-axis
+
+    # Get the current pose
+    trans = rob.getl()
+    
+    # Apply the new orientation while keeping the current position
+    new_trans = m3d.Transform(new_orientation.orient, m3d.Vector(trans[0:3]))
+    new_trans.pos.x = x
+    new_trans.pos.y = y
+    new_trans.pos.z = z
+    #rob.speedj(0.2, 0.5, 99999)
+    rob.set_pose(new_trans, acc=0.1, vel=0.4, command="movej")  # apply the new pose
 
 
+def is_safe_move(start_pose, end_pose, r=0.25):
+    start_x, start_y = (start_pose[0], start_pose[1])
+    end_x, end_y = (end_pose[0], end_pose[1])
+
+    try:
+        m = (end_y-start_y)/(end_x-start_x)
+        b = start_y - m*start_x
+        # print('m = y/x =', m)
+        # print('b =', b)
+    except:
+        m = (end_x-start_x)/(end_y-start_y)
+        b = start_x - m*start_y
+        # print('m = x/y =', m)
+        # print('b =', b)
+    
+    return r**2 - b**2 + m**2 * r**2 < 0
+
+def cartesian_to_polar(x, y):
+    r = np.sqrt(x**2 + y**2)
+    theta = np.arctan2(y, x)
+    return r, theta
+
+def polar_to_cartesian(r, theta):
+    x = r * np.cos(theta)
+    y = r * np.sin(theta)
+    return x, y
+
+
+def move_to_polar(start_pos, end_pos):
+    global rob
+
+    # Convert to polar coordinates
+    start_r, start_theta = cartesian_to_polar(start_pos[0], start_pos[1])
+    end_r, end_theta = cartesian_to_polar(end_pos[0], end_pos[1])
+
+    # Interpolate for xy (spiral arc)
+    n_points = 30
+    r_intermediate = np.linspace(start_r, end_r, n_points)
+    theta_intermediate = np.linspace(start_theta, end_theta, n_points)
+
+    # Interpolate for z (height)
+    start_z = start_pos[2]
+    end_z = end_pos[2]
+
+    z_intermediate = np.linspace(start_z, end_z, n_points)
+
+    # Interpolate for rz (keep tool rotation fixed relative to robot)
+
+
+    curr_rot = rob.getl()
+
+    theta_delta = theta_intermediate[1]-theta_intermediate[0]
+    
+    rx_intermediate = [curr_rot[5] + theta_delta*i for i in range(n_points)]
+
+    # curr_rot = rob.getj()
+    # start_rz = curr_rot[5]
+    # rot = end_theta - start_theta
+    # end_base_joint = curr_rot[0]-start_theta + rot
+
+    # end_rz = curr_rot[0] + rot
+    # # rob.movel([*polar_to_cartesian(end_r, end_theta), *rob.getl()[2:]], acc=2, vel=2)
+
+    # print('start_theta = ', math.degrees(start_theta))
+    # print('end_theta = ', math.degrees(curr_rot[0]-start_theta+rot))
+    # print('start_rz =', math.degrees(start_rz))
+    # print('rot =', math.degrees(rot))
+    # print('end_rz =', math.degrees(end_rz))
+
+    # rz_intermediate = np.linspace(start_rz, end_rz, n_points)
+
+    # Convert back to cartesian coordinates
+    curr_pos = rob.getl()
+
+    intermediate_points = [[*polar_to_cartesian(r, theta), z, *curr_pos[3:]]
+                            for r, theta, z, rx in zip(r_intermediate, 
+                                                       theta_intermediate, 
+                                                       z_intermediate, 
+                                                       rx_intermediate)]
+
+    # Move robot
+    rob.movels(intermediate_points, acc=2, vel=2, radius=0.1)
+    
+
+    return rx_intermediate
+
+def move_to_home():
+    global rob
+
+    # Home position in degrees
+    home_pos = [0.10421807948612624, 
+                -2.206111555015423, 
+                1.710679229503537, 
+                -1.075834511928354, 
+                -1.569301366430687, 
+                1.675098295930943]
+
+    # Move robot
+    rob.movej(home_pos, acc=2, vel=2)
+
+def normalize_degree(theta):
+    # Normalizes degree theta from -1.5pi to 1.5pi
+    multiplier = 1
+    normalized_theta = theta % (math.pi * multiplier)
+    
+    # Maintain the negative sign if the original angle is negative
+    if theta < 0:
+        normalized_theta -= math.pi * multiplier
+
+    # Return angle
+    return normalized_theta
+
+def get_joints_from_xyz_rel(x, y, z, initial_guess = (math.pi/2, math.pi/2, 0), limbs=(.422864, .359041, .092124)):
+    # Get polar coordinates of x,y pair
+    r, theta = cartesian_to_polar(x, y)
+    
+    # Get length of each limb
+    l1, l2, l3 = limbs
+    
+    # Formulas to find out joint positions for (r, z)
+    def inv_kin_r_z(p):
+        a, b, c = p
+
+        return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r
+                l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - z,  # z
+                a-b-c) # wrist angle
+
+
+    # Normalize angles
+    base, shoulder, elbow, wrist = [normalize_degree(deg) for deg in [theta, *fsolve(inv_kin_r_z, initial_guess)]]
+
+    # Return result
+    return base, shoulder, elbow, wrist
+
+def get_joints_from_xyz_abs(x, y, z):
+    joints = get_joints_from_xyz_rel(x, y, z)
+
+    # Joint offsets
+    # Base, Shoulder, Elbow, Wrist
+    inverse = [1, -1, 1, 1]
+    offsets = [0, 0, 0, -math.pi/2]
+
+    # Return adjusted joint positions
+    return [o+j*i for j, o, i in zip(joints, offsets, inverse)]
 
 if __name__ == "__main__":
     
     #rob.movej((0, 0, 0, 0, 0, 0), 0.1, 0.2)
     #rob.movel((x, y, z, rx, ry, rz), a, v)
     init("192.168.1.145")
-    fprint("Current tool pose is: ",  rob.getl())
-    #set_pos_rel_rot_abs(0, 0, -0.2, math.pi, 0, -math.pi)
-    set_pos_abs(0.3, -0.2, 0.5, math.pi, 0, -math.pi)
-    set_pos_abs(0, 0.2, 0.6, math.pi, 0, -math.pi)
-    set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi)
-    #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
-    fprint("Current tool pose is: ",  rob.getl())
+    print("Current tool pose is: ",  rob.getl())
+    move_to_home()
+
+    home_pose = [-0.4999999077032916, 
+               -0.2000072960336574, 
+               0.40002172976662786, 
+               0, 
+               -3.14152741295329, 
+               0]
+
+    # time.sleep(.5)
+
+    p1 = [0,
+
+        0.6,
+        .4,
+        0.2226,
+        3.1126,
+        0.0510]
+    
+    p2 = [0.171,
+        -0.115,
+        0.2,
+        0.2226,
+        3.1126,
+        0.0510]
+
+    curr_pos = rob.getl()
+    # up/down, 
+    # tool rotation
+    # tool angle (shouldn't need)
+    # rob.set_pos(p1[0:3], acc=0.5, vel=0.5)
+
+    # set_pos_abs(*home_pose)
+
+
+    angles = get_joints_from_xyz_abs(0.3, 0.3, 0.3)
+    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
+    
+    angles = get_joints_from_xyz_abs(-0.3, -0.3, 0.7)
+    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
+    
+    angles = get_joints_from_xyz_abs(-0.3, 0.4, 0.2)
+    rob.movej([*angles, *rob.getj()[4:]], acc=1, vel=1)
+
+
+    # set_pos_abs(*p1)
+    # move = move_to_polar(p1, p2)
+
+
+    # for p in move:
+    #     print(math.degrees(p))
+    # print("Safe? :", is_safe_move(p1, p2))
+
+
+    # #set_pos_rel_rot_abs(0, 0, -0.2, math.pi, 0, -math.pi)
+    # set_pos_abs(0.3, -0.2, 0.5, math.pi, 0, -math.pi)
+    # set_pos_abs(0, 0.2, 0.6, math.pi, 0, -math.pi)
+    # set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi)
+    # #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
+
+    # print("Current tool pose is: ",  rob.getl())
+    # print("getj(): ",  rob.getj())
+
+    # move_to_home()
+
     rob.stop()
     os.kill(os.getpid(), 9) # dirty kill of self
     sys.exit(0)

util.py

@@ -123,7 +123,7 @@ class Logger(object):
         self.terminal = sys.stdout
 
     def write(self, message):
-        self.log.write(message)
+        #self.log.write(message)
         #close(filename)
         #self.log = open(filename, "a")
         try:

venv-setup.sh

@@ -1,6 +1,7 @@
 #!/bin/sh
+# change this to #!/bin/bash for windows
 
-python -m venv ./venv
+python3 -m venv ./venv
 source ./venv/bin/activate
 
 pip install --upgrade pip

websocket_test.html

@@ -1,15 +1,61 @@
 <!DOCTYPE html>
 <html>
+
 <head>
     <title>WebSocket Test</title>
+
+    <style>
+        footer {
+            background-color: #333;
+            color: #fff;
+            text-align: center;
+            padding: 10px 0;
+            position: fixed;
+            bottom: 0;
+            width: 100%;
+            display: flex;
+            justify-content: space-around;
+        }
+
+        .service-box {
+            width: 150px;
+            padding: 10px;
+            border-radius: 5px;
+        }
+
+        .service-up {
+            background-color: green;
+        }
+
+        .service-down {
+            background-color: red;
+        }
+    </style>
+
+
     <script>
-        document.addEventListener("DOMContentLoaded", function() {
+
+        // class Service {
+        //     constructor(name, status) {
+        //         this.name = name
+        //         this.status = status
+        //     }
+        // }
+
+        var updatedTime = new Date();
+        // Initial status of services
+        // var serviceA = new Service("234234", 'down');
+        // var serviceBStatus = 'down';
+        // var serviceCStatus = 'down';
+
+        document.addEventListener("DOMContentLoaded", function () {
             // Create WebSocket connection.
             const socket = new WebSocket('ws://localhost:9000');
 
             // Connection opened
             socket.addEventListener('open', function (event) {
                 console.log("Connected to WebSocket server");
+                updatedTime = new Date();
             });
 
             // Listen for messages
@@ -19,6 +65,7 @@
                 let message = document.createElement('li');
                 message.textContent = "Received: " + event.data;
                 messages.appendChild(message);
+                updatedTime = new Date();
             });
 
             // Send a message to the server
@@ -28,15 +75,82 @@
                 console.log('Message sent', message);
             }
 
+            // This function just sends a ping to make sure the server is there and it is able to responds
+            function ping() {
+                let message = `{ "call": "send", "type": "log", "data": "This is a ping!!" }`;
+                socket.send(message);
+                console.log('Message sent', message);
+            }
+            setInterval(ping, 1500);
+
+            // setInterval(() => {
+            //     updateServiceStatus('serviceA', 'down');
+            // }, 2000);
+
+
             // Bind send message function to button click
             document.getElementById('sendMessage').addEventListener('click', sendMessage);
         });
     </script>
 </head>
+
 <body>
     <h2>WebSocket Test</h2>
-    <input type="text" id="messageInput" placeholder="Type a message...">
+    <textarea rows="4" cols="50" id="messageInput" placeholder="Type a message..."> </textarea>
     <button id="sendMessage">Send Message</button>
+    <p>Example JSON</p>
+    <p>{ "type": "cable_map", "call": "request", "data": { } }</p>
+    <p>{ "type": "log", "call": "send", "data": "123123" }</p>
+
+    <p>Messages/Logs</p>
     <ul id="messages"></ul>
+
+    <footer>
+        <!-- <div id="serviceA" class="service-box"></div>
+        <div id="serviceB" class="service-box"></div>
+        <div id="serviceC" class="service-box"></div> -->
+        <div id="clock"></div>
+
+    </footer>
+
+    <script>
+        // // Function to update service status
+        // function updateServiceStatus(service) {
+        //     // serviceId, status
+        //     var serviceElement = document.getElementById(service.serviceId);
+        //     // updateClock();
+
+        //     if (service.status === 'up') {
+        //         serviceElement.innerHTML = '<h3>' + service.serviceId + '</h3><p>Running</p>';
+        //         serviceElement.classList.remove('service-down');
+        //         serviceElement.classList.add('service-up');
+        //     } else {
+        //         serviceElement.innerHTML = '<h3>' + service.serviceId + '</h3><p>Down</p>';
+        //         serviceElement.classList.remove('service-up');
+        //         serviceElement.classList.add('service-down');
+        //     }
+        // }
+
+
+
+        // // Update service statuses
+        // updateServiceStatus('node.js (for this page)', serviceAStatus);
+        // updateServiceStatus('Python WebSocket', serviceBStatus);
+        // updateServiceStatus('serviceC', serviceCStatus);
+
+        // Function to update clock
+        function updateClock() {
+            var now = new Date();
+            now = now.getTime() - updatedTime.getTime();
+            // console.log(now)
+            document.getElementById('clock').textContent = 'Milliseconds Since Update: ' + now.toString().padStart(6, '0');
+        }
+
+        // Update clock every second
+        setInterval(updateClock, 100);
+
+    </script>
+
 </body>
-</html>
+
+</html>